EdgeCounterFilter

class wpimath.EdgeCounterFilter(requiredEdges: SupportsInt | SupportsIndex, windowTime: wpimath.units.seconds)

Bases: pybind11_object

A rising edge counter for boolean streams. Requires that the boolean change value to true for a specified number of times within a specified time window after the first rising edge before the filtered value changes.

The filter activates when the input has risen (transitioned from false to true) the required number of times within the time window. Once activated, the output remains true as long as the input is true. The edge count resets when the time window expires or when the input goes false after activation.

Input must be stable; consider using a Debouncer before this filter to avoid counting noise as multiple edges.

Creates a new EdgeCounterFilter.

Parameters:

• requiredEdges – The number of rising edges required before the output goes true.

• windowTime – The maximum time window in which all required edges must occur after the first rising edge.

calculate(input: bool) → bool

Applies the edge counter filter to the input stream.

Parameters:

input – The current value of the input stream.

Returns:

True if the required number of edges have occurred within the time window and the input is currently true; false otherwise.

getRequiredEdges() → int

Gets the required number of edges.

Returns:

The number of rising edges required before the output goes true.

getWindowTime() → wpimath.units.seconds

Gets the time window duration.

Returns:

The maximum time window in which all required edges must occur after the first rising edge.

setRequiredEdges(requiredEdges: SupportsInt | SupportsIndex) → None

Sets the required number of edges.

Parameters:

requiredEdges – The number of rising edges required before the output goes true.

setWindowTime(windowTime: wpimath.units.seconds) → None

Sets the time window duration.

Parameters:

windowTime – The maximum time window in which all required edges must occur after the first rising edge.